WO2017206612A1 - Mécanisme bionique de robot et robot - Google Patents

Mécanisme bionique de robot et robot Download PDF

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Publication number
WO2017206612A1
WO2017206612A1 PCT/CN2017/081108 CN2017081108W WO2017206612A1 WO 2017206612 A1 WO2017206612 A1 WO 2017206612A1 CN 2017081108 W CN2017081108 W CN 2017081108W WO 2017206612 A1 WO2017206612 A1 WO 2017206612A1
Authority
WO
WIPO (PCT)
Prior art keywords
bionic
fin
robot
connecting rod
driver
Prior art date
Application number
PCT/CN2017/081108
Other languages
English (en)
Chinese (zh)
Inventor
许永昌
盛阁
Original Assignee
深圳市鼎盛智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市鼎盛智能科技有限公司 filed Critical 深圳市鼎盛智能科技有限公司
Publication of WO2017206612A1 publication Critical patent/WO2017206612A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
    • A63H13/18—Toy swinging chairs; Rocking-figure toys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Definitions

  • the invention relates to the field of robots, in particular to a robot bionic mechanism and a robot.
  • the bionics organization is an important branch of the robotics field.
  • the bionics organization is the principle of requesting engineering technology solutions from the biological world, and transplants these principles into engineering technology, so that the robots in the robot can imitate various biological actions.
  • the robot does not have a suitable bionic penguin fin fin scheme, and fails to imitate the penguin fin finping process through a suitable bionic mechanism.
  • the robot movement process is relatively dull and the user experience is poor.
  • the main object of the present invention is to provide a robot bionic mechanism and a robot, which aims to solve the problem that the penguin fin flapping process cannot be imitated in the prior art, thereby solving the problem that the robot movement process is relatively dull and the user experience is poor.
  • the present invention provides a robot bionic mechanism comprising a bionic fin fin, a connecting rod, a fixed plate, a driver and a top post, the driver and the top post are mounted on one side of the fixing plate, and the bionic fin fin is fixed.
  • the connecting rod is disposed in the fixing plate and is hinged with the fixing plate, one end of the connecting rod is fixed on the bionic fin fin, and the other end is extended along the length thereof.
  • a guide rail one end of the top post is sleeved with the guide rail, and the other end is connected to the driver, and the driver is used to drive the top post to reciprocate along a length thereof.
  • the driver is composed of a cylinder block and a plug column, and the plug column is enclosed in the cylinder body and is relatively slid, and the top post is integrated with the plug column and passes through the cylinder block.
  • the driver is arranged to be driven by an electromagnet or a pneumatic cylinder and connected to a main control circuit or a pneumatic circuit of the robot.
  • the bionic fin fins are arranged in an elliptical shape.
  • one of the longitudinal ends of the bionic fin fin is a free end, and the other longitudinal end is a connecting end, and the connecting rod is fixed or integrally formed with the connecting end.
  • a baffle is further disposed between the bionic fin fin and the fixed plate, and the baffle is disposed on the front side of the fin fin side to form a concave curved surface to engage with the bionic fin fin.
  • the depth of the concave curved surface completely covers the bionic fin fins.
  • the fixing plate is provided as a stepped plate
  • the bottom plate is provided with a mounting hole
  • the driver is mounted on the bottom plate through the mounting hole.
  • the baffle is provided with a screw post on the back side of the driver, and the fixing plate is fixedly mounted on the back of the baffle by a screw column, and the baffle is provided with a mounting window corresponding to the connecting end of the bionic fin fin.
  • the top plate is integrated into the installation window.
  • the guide rail is provided as an open rail.
  • the present invention also includes a robot including a robot bionic mechanism as described in the outer casing, the outer casing being provided with an opening through which the bionic mechanism is mounted on the robot casing.
  • the robot bionic mechanism and the robot push and pull the connecting rod through the driver, and the connecting rod fixing plate is a fulcrum to become a lever for stimulating the bionic fin fin, and the bionic fin fin is driven to make a circular opening and closing motion with the hinge hole on the fixing plate as a center.
  • the robot is more vivid and cute during the move, improving the user experience.
  • FIG. 1 is a side elevational view of a robot bionic mechanism in accordance with an embodiment of the present invention
  • FIG. 2 is a schematic view showing the socket of the connecting rod and the driver in an embodiment of the present invention
  • FIG. 3 is a schematic view of a robot bionic mechanism in a modified embodiment of the present invention.
  • FIG. 4 is a schematic exploded view of a robot bionic mechanism in a modified embodiment of the present invention.
  • Figure 5 is a schematic view showing the installation of a connecting rod and a fixing plate in a modified embodiment of the present invention
  • Fig. 6 is an assembly diagram of a robot and a robot bionic mechanism according to the present invention.
  • the directional indication is only used to explain in a certain posture (as shown in the drawing)
  • the relative positional relationship between the components under the condition, the activity situation, etc. if the specific posture changes, the directionality indication also changes accordingly.
  • first”, “second”, etc. in the embodiments of the present invention, the description of the "first”, “second”, etc. is used for the purpose of description only, and is not to be construed as an Its relative importance or implicit indication of the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the technical solutions between the various embodiments may be combined with each other, but must be based on the realization of those skilled in the art, and when the combination of the technical solutions is contradictory or impossible to implement, it should be considered that the combination of the technical solutions does not exist. It is also within the scope of protection required by the present invention.
  • the present invention provides a robot bionic mechanism including a bionic fin fin 10, a connecting rod 20, a fixing plate 30, a driver 40, and a top post 43, wherein the driver 40 and the top post 43 as driving ends are mounted on On one side of the fixing plate 30, the bionic fin fin 10 as a driven end is located on the other side of the fixed plate 30.
  • the top of the fixing plate 30 is provided with a through hole 311, and two convex walls 312 extend along the wall of the square through hole 311.
  • the two convex walls 312 are respectively provided with a hinge hole 313.
  • the connecting rod 20 is a long strip type, and the connecting rod 20 is close to the fin.
  • One end of the wing 10 is provided with a hole post 21, and the connecting rod 20 and the fixing plate 30 are hingedly engaged with the fixing hole 30 through the hinge hole 313 and the hole post 21, and are inserted through the through hole 311, and are rotated with the hinge hole 313 as a center relative to the fixing plate.
  • the other end of the connecting rod 20 is provided with a guide rail 22 extending along the longitudinal direction thereof, and the top post 43 is sleeved on the rail 22 of the connecting rod 20.
  • a lever structure is formed, one end of the lever is sleeved with the top post 43 of the driving end (the socket can be sleeved or jacketed), and the other end is fixed to the bionic fin fin 10 of the driven end (fixing can be adopted) Screw connection, bolt and nut connection, snap connection, riveting and integral molding), the driving end drives the driven end to make a circular motion with the hinge hole as the center.
  • the driver 40 is used to drive the top post 43 to reciprocate along its length.
  • the top post 43 is provided with a collar 44.
  • the collar 44 is enclosed by the split ring 441 and the guide pin 442.
  • the guide pin 442 is sleeved with the guide rail 22, and the guide pin 442 moves on the top post 43 along the plug column with respect to the cylinder block, and the movement of the top post 43 is further transmitted to the connecting rod 20.
  • the connecting rod 20 is slid along the guide rail 22, and the linear motion A of the driving end in the vertical direction is transmitted to the driven end, and the bionic fin fin 10 is driven to make a circular opening and closing motion a with the hinge hole as a center.
  • the embodiment of the present invention converts the linear motion of the driver 40 into the circumferential opening and closing motion of the bionic fin fins 10.
  • the linear motion is transmitted to the bionic fin fins 10 through the connecting rod 20, so that the process of imitating the penguin flip fins is vivid and cute, and the user experience is improved.
  • the actuator is comprised of a cylinder block 41 and a plug post 42 that is integral with the plug post 42 and passes through the cylinder block 41.
  • the plug post 42 is closed
  • the cylinder 41 is moved inside the cylinder 41 relative to it.
  • the piston movement is a kind of effective positioning and reciprocating linear motion.
  • the motor in order to provide a suitable reciprocating linear motion power source, the motor can be used as a driving power source by matching the rack and pinion.
  • a plunger type power source it is preferable to apply.
  • the driver 40 is arranged to be driven by an electromagnet or a cylinder, and is connected with the main control circuit or the gas path of the robot, and controls the electromagnet or the opening and closing of the cylinder, the degree of opening and closing, and the opening and closing frequency through signals, so that the performance of the whole simulation process is more vivid. Improve user experience.
  • the bionic fin fins 10 are arranged in an elliptical shape, which can form a good biomimetic effect and have an excellent affinity. Of course, setting it to other shapes can also express corresponding bionic effects, for example, setting a fan-like type, a shell-like type, and the like.
  • connection position of the penguin fin fin and the body a good opening and closing range is obtained, so that the bionic shape is more vivid and delicious, one of the longitudinal ends is set as the free end 12, and the other longitudinal end is set as the connecting end 13, the connecting rod 20
  • the bionic fin-fin connection end is integrally formed with the bionic fin fin; the link 20 can also be fixed to the bionic fin fin 10 by a screw at the connection end 13.
  • the free end 12 mimics the pendulum fin fin tip position with a good swing amplitude. If the connecting rod 20 is disposed at the middle position of the bionic fin fins 10, the other ends are all free ends, and a good swing amplitude cannot be achieved, and the bionic effect is not good enough.
  • a baffle 50 is further disposed between the bionic fin fin 10 and the fixed plate 30, and the baffle 50 is disposed on the side of the fin fin to form a concave curved surface 51 and bionic The fin fins 10 are attached. This creates an extra swing space and improves the bionic effect. Also depending on the actual form of the bionic fin fins 10, the depth of the concave curved surface 51 is set, and the depth of the concave curved surface 51 can be further increased to completely cover the bionic fin fins 10.
  • the bionic mechanism is facilitated for installation and manufacture.
  • the fixing plate 30 is arranged as a stepped plate, the bottom plate 32 is provided with a mounting hole 322, and the driver 40 is connected to the mounting hole 322 by screws, and is mounted on the bottom plate 32.
  • the installation process is simple and convenient, and is finally integrated with the driver 40.
  • a through hole 311 is formed in the middle of the top plate 31.
  • the stepped fixing plate 30 can be integrally manufactured by a basic forming method such as sheet metal stamping, casting, injection molding, etc., and has low manufacturing cost and is simple and convenient.
  • the baffle 50 is provided with a screw post 511 toward the driver side, and the fixing plate 30 is fixedly mounted on the baffle 50 by screws 511, so that it can be conveniently screwed during the installation process.
  • the driver 40, the fixed plate 30 and the baffle 50 are integrally connected.
  • the baffle 50 is provided with a mounting window 512 corresponding to the connecting end 13 of the bionic fin fin 10, and the top plate 31 is integrally engaged in the mounting window 512, which greatly improves the compactness of the structure. In the case of installation without a mounting window, it may be through a sealant or other fixed form, which is not considered in this embodiment.
  • the socket pin 442 and the guide rail 22 can also be further simplified.
  • the guide rail 22 is arranged as an open rail to facilitate the socket installation after the connecting rod 20 passes through the through hole 311, which further simplifies the installation process.
  • the guide rail 22 is firstly fitted on the guide pin 442, and then connected to the hinge hole. The degree of visualization of the installation process is not high enough, and is not considered in the preferred embodiment. .
  • the present invention also provides a robot, as shown in FIG. 6, including a housing 91 for presenting the overall vividness of the robot 90 and the claim 1
  • the robot bionic mechanism 99 of any one of the nine, the outer casing is provided with an opening 92 through which the bionic mechanism 99 is mounted on the outer casing 91, which presents a stylish overallity of birth and improves user expression.

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Toys (AREA)

Abstract

L'invention concerne un mécanisme bionique de robot, comportant une ailette bionique (10), une bielle (20), une plaque fixe (30), un dispositif d'entraînement (40) et une colonne supérieure (43). En tant qu'extrémité d'entraînement, le dispositif d'entraînement (40) et la colonne supérieure (43) sont montés d'un côté de la plaque fixe (30). En tant qu'extrémité entraînée, l'ailette bionique (10) est située de l'autre côté de la plaque fixe (30). La bielle (20) est allongée. Une colonne à trous (21) est mise en œuvre à l'extrémité de la bielle (20) à proximité de l'ailette (10). La bielle (20) est reliée de manière articulée à la plaque fixe (30). Un rail de guidage (22) s'étendant le long d'une direction allant dans le sens de la longueur de la bielle (20) est mis en œuvre sur l'autre extrémité de la bielle (20). La colonne supérieure (43) est montée sur le rail de guidage (22) de la bielle (20). La bielle (20) du mécanisme bionique de robot glisse relativement le long du rail de guidage (22) à des fins d'entraînement de l'ailette bionique (10) pour effectuer des mouvements d'ouverture et de fermeture en prenant un trou d'articulation sur la plaque fixe (30) comme étant le centre d'un cercle, de telle sorte que le robot est plus vif et plus attrayant pendant le déplacement, ce qui permet d'améliorer l'expérience de l'utilisateur.
PCT/CN2017/081108 2016-05-30 2017-04-19 Mécanisme bionique de robot et robot WO2017206612A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610375717.3 2016-05-30
CN201610375717.3A CN106043642B (zh) 2016-05-30 2016-05-30 一种机器人仿生机构及机器人

Publications (1)

Publication Number Publication Date
WO2017206612A1 true WO2017206612A1 (fr) 2017-12-07

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ID=57172265

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Application Number Title Priority Date Filing Date
PCT/CN2017/081108 WO2017206612A1 (fr) 2016-05-30 2017-04-19 Mécanisme bionique de robot et robot

Country Status (2)

Country Link
CN (1) CN106043642B (fr)
WO (1) WO2017206612A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108545165A (zh) * 2018-06-19 2018-09-18 河海大学 一种仿生机器鱼俯仰调节装置
CN108860530A (zh) * 2018-09-07 2018-11-23 中国科学技术大学 一种基于射流推进的仿生扇贝机器人
CN115027588A (zh) * 2022-07-18 2022-09-09 北京航空航天大学 一种可变形的双姿态仿生鼠妇机器人及其变形方法

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106043642B (zh) * 2016-05-30 2018-08-21 深圳市鼎盛智能科技有限公司 一种机器人仿生机构及机器人
CN111113436A (zh) * 2018-10-30 2020-05-08 上海云绅智能科技有限公司 一种机器人
CN109760810B (zh) * 2019-01-08 2020-01-07 东南大学 可实现椭圆轨迹的海豚胸鳍蝶泳式拍动机构
CN110202554A (zh) * 2019-07-09 2019-09-06 上海云绅智能科技有限公司 一种翅膀运动结构

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CN203790569U (zh) * 2013-08-05 2014-08-27 彩丽电子（深圳）有限公司 亲子企鹅
CN106043642A (zh) * 2016-05-30 2016-10-26 深圳市鼎盛智能科技有限公司 一种机器人仿生机构及机器人

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Publication number Priority date Publication date Assignee Title
FR376453A (fr) * 1907-03-11 1907-08-10 Zdenko Von Limbeck Appareil propulseur à nageoire pour navires
SU529104A1 (ru) * 1973-06-01 1976-09-25 Институт Гидромеханики Ан Украинской Сср Плавниковый движитель
FR2710897B1 (fr) * 1993-10-05 1996-01-26 Lamy Francois Véhicule sous-marin autonome utilisant du gaz comprimé comme source d'énergie associé à des surfaces prenant appui sur l'eau.
JPH1132785A (ja) * 1997-04-30 1999-02-09 Smithkline Beecham Corp 慢性腎不全の標的およびマーカーであるｃｒｆｇ−１
CN1373308A (zh) * 2001-01-01 2002-10-09 熊介良 “门内马斯摆杆”与拍动翼推进器装置
CN1785747A (zh) * 2004-12-09 2006-06-14 中国科学院自动化研究所 一种仿生机器鱼胸鳍结构
CN101003301A (zh) * 2007-01-19 2007-07-25 哈尔滨工程大学 一种水下仿水翼推进装置
CN103007544A (zh) * 2013-01-08 2013-04-03 罗兴治 可遥控的机动玩具-企鹅
CN203790569U (zh) * 2013-08-05 2014-08-27 彩丽电子（深圳）有限公司 亲子企鹅
CN106043642A (zh) * 2016-05-30 2016-10-26 深圳市鼎盛智能科技有限公司 一种机器人仿生机构及机器人

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108545165A (zh) * 2018-06-19 2018-09-18 河海大学 一种仿生机器鱼俯仰调节装置
CN108545165B (zh) * 2018-06-19 2023-11-07 河海大学 一种仿生机器鱼俯仰调节装置
CN108860530A (zh) * 2018-09-07 2018-11-23 中国科学技术大学 一种基于射流推进的仿生扇贝机器人
CN108860530B (zh) * 2018-09-07 2023-10-20 中国科学技术大学 一种基于射流推进的仿生扇贝机器人
CN115027588A (zh) * 2022-07-18 2022-09-09 北京航空航天大学 一种可变形的双姿态仿生鼠妇机器人及其变形方法
CN115027588B (zh) * 2022-07-18 2023-07-21 北京航空航天大学 一种可变形的双姿态仿生鼠妇机器人及其变形方法

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Publication number Publication date
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CN106043642B (zh) 2018-08-21

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